Modeling of a lifting wing quadrotor and design of control laws for the transition phase

VTOL uavs combine the advantages of VTOL capability of multi-rotor uavs and efficient fixed-wing cruise, but they also face challenges in performance, including weak wind resistance when hovering, low flight mode conversion efficiency and high-altitude fluctuation during conversion. In view of this, this paper introduces a new type of composite wing UAV, namely lifting wing quadrotor. Compared with quadrotor UAV, it is unique in that it is equipped with a lifting wing installed at a special Angle, which effectively improves the range and load, and solves the problem of weak wind resistance in the hovering stage of tail-seat UAV, and can realize efficient transition flight. A longitudinal position controller based on TECS total energy control algorithm is designed according to the flight characteristics of the transition stage. The effectiveness of the dynamic model and controller design is verified by experiments. The results show that the control algorithm can effectively improve the flight stability of the lift-wing quadrotor during the transition stage.